Watch action from Day One of the Specsavers County Championship fixture versus Glamorgan at Cardiff, as Derbyshire rallied to post 288 in their first innings under the floodlights.
Madsen led the way in the opening session with his fourth half-century of the season, but the visitors lost six wickets after the interval to slip to 157-7.
But 53 from Milnes, batting at number nine, 41 from Daryn Smit and 23 from Tony Palladino helped Derbyshire recover, adding 131 for the last three wickets to post 288.
Glamorgan safely navigated the final two overs of the day under the floodlights to close the opening day of the day/night fixture on 5-0, trailing by 283.
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